"Perfect static balancing using Cardan-gear spring mechanisms" by Chin Hsing Kuo and Yi Xin Wu
This paper presents the static balancing designs (i.e., gravity compensation) for a rotating link by using a special straight-line geared mechanism with springs. The design scenario is to attach the rotating link yet to balance onto an inverted Cardan gear mechanism which has linear springs installed for balancing the weight of the links. It is found that the whole mechanism can be perfectly balanced in theory through either one or two linear springs. The significance of the proposed designs is that the derived solutions for perfect balancing are general. That is, (1) all the masses of the mec...
Source: uow.edu.au